CN1878509B - 用于在微创介入时导引末端执行器的促动平台 - Google Patents

用于在微创介入时导引末端执行器的促动平台 Download PDF

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Publication number
CN1878509B
CN1878509B CN2004800334191A CN200480033419A CN1878509B CN 1878509 B CN1878509 B CN 1878509B CN 2004800334191 A CN2004800334191 A CN 2004800334191A CN 200480033419 A CN200480033419 A CN 200480033419A CN 1878509 B CN1878509 B CN 1878509B
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CN
China
Prior art keywords
platform
actuating
telecontrol equipment
control device
end effector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2004800334191A
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English (en)
Chinese (zh)
Other versions
CN1878509A (zh
Inventor
H·福伊斯纳
E·扎梅赖尔
M·泽伦
J·M·克纳普
R·盖格尔
L·基尔申霍费尔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Micro E Measurement Technology Co Ltd & Co ltd
Original Assignee
DELTA ENGINEERING GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DELTA ENGINEERING GmbH filed Critical DELTA ENGINEERING GmbH
Publication of CN1878509A publication Critical patent/CN1878509A/zh
Application granted granted Critical
Publication of CN1878509B publication Critical patent/CN1878509B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/00902—Material properties transparent or translucent
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/00902—Material properties transparent or translucent
    • A61B2017/00911—Material properties transparent or translucent for fields applied by a magnetic resonance imaging system
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0813—Accessories designed for easy sterilising, i.e. re-usable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Surgical Instruments (AREA)
CN2004800334191A 2003-11-12 2004-11-05 用于在微创介入时导引末端执行器的促动平台 Expired - Fee Related CN1878509B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10353110A DE10353110B4 (de) 2003-11-12 2003-11-12 Aktorplattform zur Führung von medizinischen Instrumenten bei minimal invasiven Interventionen
DE10353110.6 2003-11-12
PCT/DE2004/002442 WO2005046499A2 (de) 2003-11-12 2004-11-05 Aktorplattform zur führung von endeffektoren bei minimal invasiven interventionen

Publications (2)

Publication Number Publication Date
CN1878509A CN1878509A (zh) 2006-12-13
CN1878509B true CN1878509B (zh) 2010-10-06

Family

ID=34585067

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2004800334191A Expired - Fee Related CN1878509B (zh) 2003-11-12 2004-11-05 用于在微创介入时导引末端执行器的促动平台

Country Status (5)

Country Link
US (1) US20080039867A1 (de)
EP (1) EP1686912B1 (de)
CN (1) CN1878509B (de)
DE (1) DE10353110B4 (de)
WO (1) WO2005046499A2 (de)

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US8676293B2 (en) * 2006-04-13 2014-03-18 Aecc Enterprises Ltd. Devices, systems and methods for measuring and evaluating the motion and function of joint structures and associated muscles, determining suitability for orthopedic intervention, and evaluating efficacy of orthopedic intervention
US7659720B2 (en) * 2007-01-29 2010-02-09 Toshiba Kk Magnetic resonance imaging apparatus and method of setting slice-area/slice-volume orientation at each moved couch position
US20090099481A1 (en) 2007-10-10 2009-04-16 Adam Deitz Devices, Systems and Methods for Measuring and Evaluating the Motion and Function of Joints and Associated Muscles
DE102008005069B4 (de) * 2008-01-18 2017-06-08 Siemens Healthcare Gmbh Positioniervorrichtung zum Positionieren eines Patienten, Partikeltherapieanlage sowie Verfahren zum Betreiben einer Positioniervorrichtung
WO2011029190A1 (en) * 2009-09-09 2011-03-17 Engineering Services Inc. Manual instrumented medical tool system
WO2011038236A2 (en) 2009-09-25 2011-03-31 Ortho Kinematics, Inc. Systems and devices for an integrated imaging system with real-time feedback loops and methods therefor
DE102010052219A1 (de) * 2010-11-24 2012-05-24 Karl Storz Gmbh & Co. Kg Haltesystem für medizinische Instrumente
EP3150113A1 (de) 2010-12-13 2017-04-05 Ortho Kinematics, Inc. Verfahren, systeme und vorrichtungen zur berichterstattung über klinische daten und für chirurgische navigation
CA2926529A1 (en) 2013-10-10 2015-04-16 Torus Biomedical Solutions Inc. Tracking system for imaging machines and related apparatus
US10159533B2 (en) 2014-07-01 2018-12-25 Auris Health, Inc. Surgical system with configurable rail-mounted mechanical arms
WO2016164824A1 (en) 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Surgical system with configurable rail-mounted mechanical arms
CN107645924B (zh) 2015-04-15 2021-04-20 莫比乌斯成像公司 集成式医学成像与外科手术机器人系统
US9622827B2 (en) 2015-05-15 2017-04-18 Auris Surgical Robotics, Inc. Surgical robotics system
US20160354161A1 (en) 2015-06-05 2016-12-08 Ortho Kinematics, Inc. Methods for data processing for intra-operative navigation systems
US20180193101A1 (en) * 2015-06-29 2018-07-12 Kawasaki Jukogyo Kabushiki Kaisha Surgical robot
CN106236273B (zh) * 2016-08-31 2019-06-25 北京术锐技术有限公司 一种手术机器人的成像工具展开控制系统
WO2019143459A1 (en) 2018-01-17 2019-07-25 Auris Health, Inc. Surgical platform with adjustable arm supports
EP3890645A4 (de) 2019-02-22 2022-09-07 Auris Health, Inc. Chirurgische plattform mit motorisierten armen für verstellbare armstützen
JP7483741B2 (ja) 2019-03-08 2024-05-15 オーリス ヘルス インコーポレイテッド 医療システム用の傾斜機構及び用途
US11812938B2 (en) 2021-03-31 2023-11-14 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
US11844583B2 (en) 2021-03-31 2023-12-19 Moon Surgical Sas Co-manipulation surgical system having an instrument centering mode for automatic scope movements
US11832909B2 (en) 2021-03-31 2023-12-05 Moon Surgical Sas Co-manipulation surgical system having actuatable setup joints
WO2022208414A1 (en) 2021-03-31 2022-10-06 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery
US11819302B2 (en) 2021-03-31 2023-11-21 Moon Surgical Sas Co-manipulation surgical system having user guided stage control
US11986165B1 (en) 2023-01-09 2024-05-21 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
US11832910B1 (en) 2023-01-09 2023-12-05 Moon Surgical Sas Co-manipulation surgical system having adaptive gravity compensation

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US5971976A (en) * 1996-02-20 1999-10-26 Computer Motion, Inc. Motion minimization and compensation system for use in surgical procedures
US6547782B1 (en) * 1991-06-13 2003-04-15 International Business Machines, Corp. System and method for augmentation of surgery

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US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
US6547782B1 (en) * 1991-06-13 2003-04-15 International Business Machines, Corp. System and method for augmentation of surgery
CN1216454A (zh) * 1996-02-20 1999-05-12 电脑动作公司 施行最小侵入性心脏手术的方法和装置
US5971976A (en) * 1996-02-20 1999-10-26 Computer Motion, Inc. Motion minimization and compensation system for use in surgical procedures

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Also Published As

Publication number Publication date
WO2005046499A2 (de) 2005-05-26
US20080039867A1 (en) 2008-02-14
DE10353110B4 (de) 2006-02-16
DE10353110A1 (de) 2005-06-23
EP1686912B1 (de) 2017-01-25
EP1686912A2 (de) 2006-08-09
WO2005046499A3 (de) 2005-07-14
CN1878509A (zh) 2006-12-13

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Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
ASS Succession or assignment of patent right

Owner name: DELTA ENGINEERING GMBH

Free format text: FORMER OWNER: DELTA ENGINEERING CO., LTD.; APPLICANT

Effective date: 20070921

C41 Transfer of patent application or patent right or utility model
TA01 Transfer of patent application right

Effective date of registration: 20070921

Address after: German ortenburg

Applicant after: Micro-E Measurement Technology Co., Ltd. & Co.,Ltd.

Address before: German barbing

Applicant before: Delta Engineering GmbH

Co-applicant before: Micro-E Measurement Technology Co., Ltd. & Co.,Ltd.

C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20101006